Cart (Loading....) | Create Account
Close category search window
 

Direct calculation of minimum set of inertial parameters of serial robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Gautier, M. ; Lab. d''Autom., CNRS, Nantes, France ; Khalil, W.

The determination of the minimum set of inertial parameters of robots contributes to the reduction of the computational cost of the dynamic models and simplifies the identification of the inertial parameters. These parameters can be obtained from the classical inertial parameters by eliminating those that have no effect on the dynamic model and by regrouping some others. A direct method is presented for determining the minimum set of inertial parameters of serial robots. The method permits determination of most of the regrouped parameters by means of closed-form relations

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:6 ,  Issue: 3 )

Date of Publication:

Jun 1990

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.